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FlightTasks: remove updateFinalize() concept because it got obsolete

This commit is contained in:
Matthias Grob 2021-11-17 09:25:44 +01:00 committed by Daniel Agar
parent 9eac0edbc0
commit 35d4986ea7
4 changed files with 4 additions and 17 deletions
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2
src/modules/flight_mode_manager/FlightModeManager.cpp
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@ -456,7 +456,7 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
vehicle_local_position_setpoint_s setpoint = FlightTask::empty_setpoint;
vehicle_constraints_s constraints = FlightTask::empty_constraints;
if (_current_task.task->updateInitialize() && _current_task.task->update() && _current_task.task->updateFinalize()) {
if (_current_task.task->updateInitialize() && _current_task.task->update()) {
// setpoints and constraints for the position controller from flighttask
setpoint = _current_task.task->getPositionSetpoint();
constraints = _current_task.task->getConstraints();

10
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
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@ -214,17 +214,13 @@ bool FlightTaskAuto::update()
// update previous type
_type_previous = _type;
return ret;
}
bool FlightTaskAuto::updateFinalize()
{
// All the auto FlightTasks have to comply with defined maximum yaw rate
// If the FlightTask generates a yaw or a yawrate setpoint that exceeds this value
// it will see its setpoint constrained here
_limitYawRate();
_constraints.want_takeoff = _checkTakeoff();
return true;
return ret;
}
void FlightTaskAuto::_prepareLandSetpoints()

1
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
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@ -91,7 +91,6 @@ public:
void reActivate() override;
bool updateInitialize() override;
bool update() override;
bool updateFinalize() override;
/**
* Sets an external yaw handler which can be used to implement a different yaw control strategy.

8
src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
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@ -108,14 +108,6 @@ public:
*/
virtual bool update();
/**
* Call after update()
* to constrain the generated setpoints in order to comply
* with the constraints of the current mode
* @return true on success, false on error
*/
virtual bool updateFinalize() { return true; };
/**
* Get the output data
* @return task output setpoints that get executed by the positon controller